CN105217319B - Screw-nut type anti-swing suction cup moving mechanism - Google Patents

Screw-nut type anti-swing suction cup moving mechanism Download PDF

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Publication number
CN105217319B
CN105217319B CN201510677754.5A CN201510677754A CN105217319B CN 105217319 B CN105217319 B CN 105217319B CN 201510677754 A CN201510677754 A CN 201510677754A CN 105217319 B CN105217319 B CN 105217319B
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CN
China
Prior art keywords
axis
suction cup
crossbeam
power component
arm
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CN201510677754.5A
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Chinese (zh)
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CN105217319A (en
Inventor
李立君
高自成
王朋辉
李舟
肖诗慧
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中南林业科技大学
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Priority to CN201510677754.5A priority Critical patent/CN105217319B/en
Publication of CN105217319A publication Critical patent/CN105217319A/en
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Publication of CN105217319B publication Critical patent/CN105217319B/en

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Abstract

A screw-nut type anti-swing suction cup moving mechanism comprises a rack in the shape of a cuboid stereo frame and a suction cup assembly used for adsorbing plates. The suction cup assembly is arranged in the rack. The screw-nut type anti-swing suction cup moving mechanism is characterized in that the mechanism further comprises a Y-axis power assembly, an X-axis power assembly, a Z-axis power assembly and a P-axis rotation power assembly, wherein the Y-axis power assembly supplies power to enable the suction cup assembly to move in the rack in the width direction of the rack, the X-axis power assembly supplies power to enable the suction cup assembly to move in the rack in the length direction of the rack, the Z-axis power assembly supplies power to enable the suction cup assembly to go up and down in the rack in the height direction of the rack, and the P-axis rotation power assembly supplies power to enable the suction cup assembly to horizontally rotate; the operation states of the Y-axis power assembly, the X-axis power assembly, the Z-axis power assembly, the P-axis rotation power assembly and the suction cup assembly are uniformly controlled by a control system. According to the screw-nut type anti-swing suction cup moving mechanism, rapid and orderly stacking of the plates is achieved, the automation level and the efficiency of stacking of the plates are improved, and the storage space utilization rate of the plates is increased.

Description

The anti-sway sucker motion of feed screw nut's formula
Technical field
The present invention relates to a kind of motion, relates generally to a kind of anti-sway sucker motion of feed screw nut's formula, for certainly Activity code puts plate.
Background technology
Application of the plate in industry and life than wide, automobile, refrigerator, washing machine, top-grade furniture, kitchen equipment, Industry and civil buildings etc. are required for using.In recent years in furniture production industry, gradually rise and use PCM Coil Coating Products as it The moulding material of side plate, panel.Therefore appearance requirement is also progressively increased, the storage and transport to plate will be avoided to plate as far as possible The scuffing on material surface, it is ensured that plate outward appearance is unaffected.The basis for effectively piling up the storage and the transport that are plate of plate.
Plate piles up the defect being primarily present in prior art is:
1st, plate is piled up irregular, and plate is piled up into after pile, straight sheet pile vertically not being aligned straight line, easily causes down Pile, that is, damage plate and also bring potential safety hazard.
2nd, plate piles up space, is not efficiently used, and straight sheet pile location interval is not of uniform size, the space utilization of plate storage Rate is low.
3rd, being piled up for plate need mostly a dead lift and check, and automatization level is not high.
4th, piling up for plate is carried out by automatic fetching equipment or belt transport equipment, easily causes panel surface and draw Wound, affects plate quality.
5th, to pile up efficiency low for plate, it is impossible to meets the requirement of quick storage and logistics.
The content of the invention
The present invention provides a kind of feed screw nut's formula anti-sway sucker motion, realizes the quick block pattern row pattern of plate, improves The gentle efficiency of Automated water that plate is piled up, improves the space availability ratio of plate storage.
It is to reach above-mentioned purpose the technical solution used in the present invention:Anti-sway sucker motion, including cuboid stand The frame of shape and the Suction cup assembly for adsorbing plate, Suction cup assembly is placed in frame, it is characterised in that also including offer suction Disk component moves the Y-axis Power Component of power, provides Suction cup assembly in frame along frame in frame along frame width X-axis Power Component, the offer Suction cup assembly of length direction movement power is in frame along the Z axis of bracket height direction lifting drive Power Component and offer Suction cup assembly horizontally rotate the P axle rotary power components of power, described Y-axis Power Component, X-axis power The running status of component, Z axis Power Component, P axle rotary power components and Suction cup assembly is uniformly controlled by control system;
Described frame top is mounted on crossbeam equipped with the crossbeam across the frame left and right sides, described X-axis Power Component, Described Z axis Power Component, P axle rotary power components and Suction cup assembly are sequentially arranged at X-axis power packages along bracket height direction The lower section of part;
Described Y-axis Power Component is mounted in the left and right two ends of crossbeam, Y-axis Power Component be arranged on the frame left and right sides Y-axis stationary rack is engaged, and drives described crossbeam to move along the frame left and right sides, and described X-axis Power Component is solid with along crossbeam The X-axis stationary rack engagement of Dingan County's dress, drives X-axis Power Component along cross beam movement, described P axle rotary power components with inhale Disk component is engaged, and drives described Suction cup assembly to horizontally rotate;
Described Z axis drive component includes being fixed on the Z axis driving box of X-axis Power Component bottom, vertically installs Screw mandrel, the left and right sides in Z axis driving box equipped with wing wing nut, be fixed in Z axis driving box fixed hinge, on Arm and underarm, described Z axis driving box can drive described screw mandrel forward or reverse, described wing nut with motor It is mounted on screw mandrel and is risen or fallen with the rotation of screw mandrel, wing nut left and right sides wing connects moveable hinge by connecting rod respectively Chain, hinges are placed in the lower section of wing nut, the symmetrical outside for being arranged on two hinges of two fixed hinges, Fixed hinge is connected with close hinges by connecting rod, and upper arm, the lower end hinge of upper arm are respectively provided with two fixed hinges Underarm is connect, the lower end of underarm is hinged on P axle rotary power components, and two upper arm and two underarms are symmetrical set and Z Axle driving box and P axle rotary power components surround the hexagonal structure to be formed vertically and limit described Z axis Power Component Swing;
Screw mandrel is rotated, and wing nut rises or falls along screw mandrel, drives hinges to rotate around fixed hinge, two activities Hinge is reversely rotated at the same speed, and driving two fixed hinges to rotate backward at the same speed makes two upper arm rotate backward at the same speed, and upper arm is with Variable angle between arm, drives P axle rotary power components to rise or fall.
Further, the side plate of described Z axis driving box left and right sides be postive stop baffle, the postive stop baffle described in two It is symmetrical set and positioned at the top of described upper arm, upper arm is rotated and contacted with postive stop baffle, restriction upper arm is continued up and turned Dynamic, the upper end of described screw mandrel is equipped with spacing back-up ring, and described wing nut rising is contacted with spacing back-up ring, limits described butterfly Shape nut is continued up.
Further, described screw mandrel is rotated forward, and wing nut declines along screw mandrel, drives hinges downward around fixed hinge Rotate, two hinges are reversely rotated down at the same speed, driving two fixed hinges to rotate backward at the same speed makes two upper arm synchronized Rotate back up, angle between upper arm and underarm reduces, drive P axle rotary powers component to rise, described upper arm with it is spacing Baffle plate is contacted, and is limited described upper arm and is continued up rotation, and described P axle rotary powers component stops rising.
Further, described screw mandrel reversion, wing nut rises along screw mandrel, drive hinges around fixed hinge upwards Rotate, two hinges are reversely rotated up at the same speed, driving two fixed hinges to rotate backward at the same speed makes two upper arm synchronized Rotate oppositely downward, the increase of angle between upper arm and underarm drives P axle rotary powers component to decline, described wing nut with Limit draws back-up ring contact, limits described wing nut and continues up, and described P axle rotary powers component stops declining.
Further, the left and right two ends of described crossbeam bottom are equipped with Y-axis directive wheel, in the frame of the frame top left and right sides The Y-axis guide rail corresponding with Y-axis directive wheel is housed, described Y-axis Power Component includes Y-axis motor and installed in Y on beam Y-axis drive gear on axle motor, described Y-axis motor is fixedly mounted on the left and right two ends of crossbeam, Y-axis sliding tooth Wheel is placed in the underface of Y-axis motor, described Y-axis stationary rack be attached separately to the frame top left and right sides set a roof beam in place it is outer Side is engaged with Y-axis drive gear, starts described Y-axis motor, and described Y-axis drive gear is nibbled along Y-axis stationary rack Movement is closed, driving described Y-axis directive wheel to roll along Y-axis guide rail makes crossbeam move along the frame left and right sides.
Further, described crossbeam is the cuboid frame configuration of hollow out, and crossbeam framework beam along its length is along horizontal Protrusion both sides before and after crossbeam in both sides form X-axis Power Component and install and mobile space before and after beam, described X-axis fixing tooth Bar is arranged on the outside of cross rail top framework beam along crossbeam, and described X-axis Power Component is including X-axis motor, installed in X-axis X-axis drive gear, X-axis thrust wheel and X-axis directive wheel on motor, described X-axis motor, X-axis thrust wheel and X-axis Directive wheel is mounted on support plate, and described X-axis drive gear is engaged with X-axis stationary rack, and described X-axis thrust wheel is placed in crossbeam On the framework beam of bottom, described X-axis directive wheel is arranged on crossbeam bottom, is equipped with and X-axis directive wheel on described crossbeam bottom surface Corresponding X-axis guide rail, starts described X-axis motor, and described X-axis drive gear starts along the engagement of X-axis stationary rack, Drive X-axis thrust wheel to roll on the balladeur train beam of crossbeam bottom and X-axis directive wheel is rolled along X-axis guide rail and makes X-axis Power Component edge Cross beam movement.
Further, the quantity of described X-axis thrust wheel is four, and four X-axis thrust wheels are placed in the skeleton in crossbeam portion On beam and in horizontal rectangular arrangement, two X-axis thrust wheels are distributed in the front side of crossbeam, and two other X-axis thrust wheel is distributed in horizontal stroke The rear side of beam.
Further, described P axle rotary powers component includes P shaft coupling pieces, P axles motor and drives installed in P axles P axle rotary drive gears on dynamic motor, described Suction cup assembly includes horizontal suction cup carrier, sucker gear wheel, suction nozzle and to inhale Mouth provides the pneumatic control components of absorption affinity, and the top of described P shaft coupling pieces connects the lower end of underarm, and described P axles drive Motor is arranged on the side of P shaft coupling pieces, and described P axle rotary drive gears are arranged on the lower section of P axle motors, described Horizontal suction cup carrier rotatably installed in the bottom of P shaft coupling pieces, described sucker gear wheel is fixed on horizontal suction cup carrier Top is engaged with P axle rotary drive gears, and described suction nozzle is mounted in horizontal suction cup carrier, and described pneumatic control components are mounted in P The side of shaft coupling piece is connected by tracheae with suction nozzle, starts described P axle motors, described P axle rotary drive gears Engagement drives the rotation of described sucker bull gear drive, sucker gear wheel to drive horizontal suction cup carrier to rotate.
Further, the quantity of described suction nozzle be 20 ~ 40, and in array installed in described horizontal suction cup carrier Bottom.
Further, described pneumatic control components are divided into multigroup, four or three suctions of every group of pneumatic control components control The absorption affinity of mouth, every group of pneumatic control components are moved to valve group into described vacuum generator passes through from vacuum generator is gentle Tracheae is connected with suction nozzle, and described air operated reversing valve control vacuum gives birth to the circulation and blocking of the tracheae between device and suction nozzle.It is convenient For Different Weight and the plate of size, the adsorption capacity of Suction cup assembly is adjusted.
The invention has the beneficial effects as follows:
1st, the present invention is by the control of Y-axis Power Component, X-axis Power Component, Z axis Power Component and P axle rotary powers component Motion of the Suction cup assembly in frame, by Suction cup assembly plate is adsorbed, and the stacking of real plate improves what plate was piled up Automatization level.
2nd, the present invention is driven between upper arm and underarm by the screw mandrel in Z axis Power Component and the routing motion of wing nut The change of angle, so as to drive P axles rotation runner assembly to rise or fall, upper arm, underarm, Z axis driving box and P axle rotary power groups Part surrounds the swing that the hexagonal structure to be formed vertically limits Z axis Power Component, improves stable in plate moving process Property, it is ensured that the regularity that plate is piled up, improves structural stability of the present invention in running.
3rd, the side that Y-axis Power Component, X-axis Power Component and P axle rotary powers component are driven by engagement in the present invention Formula drives Suction cup assembly to move and rotate in frame, and Z axis Power Component is by way of screw mandrel and wing nut routing motion Drive the lifting of Suction cup assembly, moving displacement and rotational angle of the Suction cup assembly in frame is accurate, can real plate it is neat Code plate, improves the space availability ratio of plate storage, to greatly reduce and stamp risk after plate is piled up.
4th, plate is adsorbed with Suction cup assembly in the present invention, with Y-axis Power Component, X-axis Power Component, Z axis Power Component and P Axle rotary power component is moved and rotating suction disc component, is moved with control system control Y-axis Power Component, X-axis Power Component, Z axis The running status of power component, P axle rotary power components and Suction cup assembly, quickly piling up for real plate, improves piling up for plate Efficiency, meets the requirement that plate is quickly stored in a warehouse with logistics.
5th, the present invention adsorbs plate by Suction cup assembly, it is to avoid cause plate to scratch during piling up, it is ensured that outside plate See unaffected.
Description of the drawings
Fig. 1 is the planar structure schematic diagram of the present invention.
Fig. 2 is the planar structure schematic diagram of Z axis Power Component.
Fig. 3 is the dimensional structure diagram of Z axis Power Component.
Fig. 4 is the structural representation that Y-axis Power Component is mounted on crossbeam.
Fig. 5 is the planar structure schematic diagram that X-axis Power Component is mounted on crossbeam.
Fig. 6 is the dimensional structure diagram that X-axis Power Component is mounted on crossbeam.
Fig. 7 is the planar structure schematic diagram that P axle rotary power components and suction group component connect.
Fig. 8 is the dimensional structure diagram that P axle rotary power components and suction group component connect.
Dimensional structure diagram when Fig. 9 is feed screw nut's formula anti-sway sucker motion absorption plate of the present invention.
Specific embodiment
Embodiments of the invention are elaborated with reference to Fig. 1 to Fig. 9.
As shown in figure 1, the anti-sway sucker motion of feed screw nut's formula, including cuboid stand shape frame 1 and be used for The Suction cup assembly 2 of absorption plate, Suction cup assembly 2 is placed in frame 1, also interior along frame 1 in frame 1 including Suction cup assembly 2 is provided The Y-axis Power Component 3 of width movement power, offer Suction cup assembly 2 move power in frame 1 along the length direction of frame 1 X-axis Power Component 4, provide Suction cup assembly 2 in the frame 1 along the and of Z axis Power Component 5 of the short transverse lifting drive of frame 1 The P axle rotary powers component 6 that Suction cup assembly 2 horizontally rotates power is provided;
Equipped with the crossbeam 7 across the left and right sides of frame 1, described X-axis Power Component 4 is mounted in horizontal stroke at the described top of frame 1 On beam 7, described Z axis Power Component 5, P axle rotary powers component 6 and Suction cup assembly 2 are sequentially arranged at along the short transverse of frame 1 The lower section of X-axis Power Component 4;Described Y-axis Power Component 3, X-axis Power Component 4, Z axis Power Component 5, P axle rotary power groups The running status of part 6 and Suction cup assembly 2 is uniformly controlled by control system, and control system is arranged on the automatically controlled of the side of frame 1 In cabinet.
As shown in Figures 2 and 3, described Z axis drive component 5 includes that the Z axis for being fixed on the bottom of X-axis Power Component 4 drive Case 50, the screw mandrel 51, left and right sides being vertically arranged in Z axis driving box 50 are equipped with the wing nut 52 of wing, fix Fixed hinge 53, upper arm 54 and underarm 55 in Z axis driving box 50, described Z axis driving box 50 can drive with motor Move the described forward or reverse of screw mandrel 51, described wing nut 52 be mounted on screw mandrel 51 with the rotation of screw mandrel 51 rise or under Drop, the left and right sides wing of wing nut 52 connects hinges 52.1 by connecting rod respectively, and hinges 52.1 are placed in butterfly spiral shell Female 52 lower section, the symmetrical outside for being arranged on two hinges 52.1 of two fixed hinges 53, fixed hinge 53 with Close hinges 52.1 are connected by connecting rod, and upper arm 54, the lower end hinge of upper arm 54 are respectively provided with two fixed hinges 53 Underarm 55 is connect, the lower end of underarm 55 is hinged on P axle rotary powers component 6, and two upper arm 54 and two equal left and right of underarm 55 are right Claim to arrange and surround with Z axis driving box 50 and P axle rotary powers component 6 described in the hexagonal structure restriction to be formed vertically The swing of Z axis Power Component 5;
The side plate of the described left and right sides of Z axis driving box 50 be postive stop baffle 50.1, the postive stop baffle described in two 50.1 are symmetrical set and positioned at the top of described upper arm 54, and upper arm 54 is rotated and contacted with postive stop baffle 50.1, in restriction Arm 54 continues up rotation, and the upper end of described screw mandrel 51 is equipped with spacing back-up ring 51.1, and described wing nut 52 rises and limit Position back-up ring 51.1 is contacted, and is limited described wing nut and is continued up.
Described screw mandrel 51 is rotated forward, and wing nut 52 declines along screw mandrel 51, drives hinges 52.1 around fixed hinge 53 Rotate down, two hinges 52.1 are reversely rotated down at the same speed, driving two fixed hinges 53 to rotate backward at the same speed makes two Individual upper arm 54 is rotated back up at the same speed, and the angle between upper arm 54 and underarm 55 reduces, and drives P axle rotary powers component 6 to rise, Described upper arm 54 is contacted with postive stop baffle 50.1, is limited described upper arm 54 and is continued up rotation, described P axle rotary powers Component 6 stops rising.
Described screw mandrel 51 is inverted, and wing nut 52 rises along screw mandrel 51, drives hinges 52.1 around fixed hinge 53 It is rotated up, two hinges 52.1 are reversely rotated up at the same speed, driving two fixed hinges 53 to rotate backward at the same speed makes two Individual upper arm 54 is rotated oppositely downward at the same speed, the angle increase between upper arm 54 and underarm 55, drives P axle rotary powers component 6 to decline, Described wing nut 52 draws back-up ring 52.1 to contact with limit, limits described wing nut and continues up, described P axles rotation Rotatory force component 6 stops declining.
From figure 3, it can be seen that when the electric motor starting in Z axis driving box 50, drive screw 51 is rotated forward, the edge of wing nut 52 Screw mandrel 51 declines, and the connecting rod between the wing of wing nut 52 and hinges 52.1 promotes hinges 52.1 around fixed hinge 53 Rotate down, two hinges 52.1 are reversely rotated down at the same speed, hinges 52.1 are rotated and driven and hinges 52.1 The fixed hinge 53 connected by connecting rod is rotated, two reversely synchronized rotations of fixed hinge 53, makes two upper arm 54 reversely synchronized It is rotated up, two upper arm 54 keep symmetrical, because upper arm 54 is hinged with underarm 55, the lower end of underarm 55 is hinged on P axles On rotary power component 6, therefore upper arm 54, when being rotated up, the lower end of underarm 55 is moved upwards, between upper arm 54 and underarm 55 Angle reduce, P axle rotary powers component 6 is because moving and elevated, real P axles rotary power component upwards the lower end of underarm 55 6 rising.In addition, while P axle rotary powers component 6 rises, two upper arm, 54, two underarms 55, the and of Z axis driving box 50 P axle rotary powers component 6 surrounds the vertically average rate deformation of composition hexagonal structure vertically, upper arm 54 and underarm 55 angle is gradually reduced, and the swing of Z axis Power Component is limited, so as to ensure that P axle rotary power components 6 in uphill process Stability.When two upper arm 54 are rotated up contacting with the postive stop baffle 50.1 of the side of Z axis driving box 50 respectively, upper arm 54 Be rotated up limited, the angle between upper arm 54 and underarm 55 no longer reduces, P axle rotary powers component stop transport upwards Dynamic, wing nut 52 stops declining along screw mandrel 51, prevents wing nut 52 from coming off from screw mandrel 51, on P axle rotary power components Rise displacement and reach maximum.
Electric motor starting in Z axis driving box 50, drive screw 51 is inverted, and wing nut 52 rises along screw mandrel 51, butterfly Connecting rod between the wing of nut 52 and hinges 52.1 promotes hinges 52.1 to be rotated up around fixed hinge 53, two work Dynamic hinge 52.1 is reversely rotated up at the same speed, and hinges 52.1 are rotated and driven with hinges 52.1 by consolidating that connecting rod is connected Determine hinge 53 to rotate, two reversely synchronized steerings of fixed hinge 53 make two upper arm 54 reversely rotate down at the same speed, two upper arm 54 keep symmetrical, and because upper arm 54 is hinged with underarm 55, the lower end of underarm 55 is hinged on P axle rotary powers component 6, because When this upper arm 54 is rotated down, the lower end of underarm 55 moves downward, the angle increase between upper arm 54 and underarm 55, the rotation of P axles Power Component 6 is pushed down because the lower end of underarm 55 moves downward, the decline of real P axles rotary power component 6.In addition, in P axles While rotary power component 6 declines, two upper arm, 54, two underarms 55, Z axis driving box 50 and P axle rotary powers component 6 are closed The vertically average rate deformation of composition hexagonal structure vertically is enclosed, upper arm 54 gradually increases with the angle of underarm 55, The swing of Z axis Power Component is limited, so as to ensure that stability of the P axle rotary power components 6 during decline.When butterfly spiral shell Female rising along screw mandrel 51 contacts with the spacing back-up ring 51.1 of the upper end of screw mandrel 51, and wing nut 52 moves limited upwards, upper arm 54 No longer increase with the angle between underarm 55, P axle rotary powers component stops moving downward, decrease under P axle rotary power components Shifting reaches maximum, and displacement is excessive to cause Suction cup assembly 2 to collide with the bottom surface of frame 1 to prevent P axle rotary powers component 6 from declining.
When Z axis Power Component 5 is moved with X-axis Power Component 4 and Y-axis Power Component 3 along the width of frame 1 and length direction When dynamic, the upper arm 54, underarm 55 and Z axis driving box 50 in Z axis Power Component 5 surrounds to be formed along vertical with P axle rotary powers component 6 Nogata to hexagonal structure limit swing of the Z axis Power Component 5 when moving along the width of frame 1 and length direction, from And ensure that stability of the P axle rotary motion power component 6 in the length direction of frame 1 and width moving process.Thus, P Axle rotary power component 6 and Suction cup assembly 2 pass through Z axis along the stability of the length of frame 1, the three direction movements of width and height Power Component surrounds the hexagonal structure to be formed and is protected with P axle rotary power components, that is, ensured that Suction cup assembly 2 is being moved During stability, stability of the plate adsorbed by Suction cup assembly 2 in moving process is high, it is ensured that it is neat that plate is piled up Degree, improves structural stability of the anti-sway sucker motion of feed screw nut's formula in running.
As shown in figure 4, the left and right two ends of the described bottom of crossbeam 7 are equipped with Y-axis directive wheel 72, in the top of frame 1 left and right two Setting a roof beam in place for side is upper equipped with the Y-axis guide rail 12 corresponding with Y-axis directive wheel 72, and described Y-axis Power Component 3 includes that Y-axis drives electricity Machine 31 and the Y-axis drive gear 32 on Y-axis motor 31, described Y-axis motor 31 is fixedly mounted on crossbeam 7 Left and right two ends, Y-axis drive gear 32 is placed in the underface of Y-axis motor 31, and described Y-axis stationary rack 11 is attached separately to The lateral surface set a roof beam in place of the top left and right sides of frame 1 is engaged with Y-axis drive gear 32, starts described Y-axis motor 31, institute The Y-axis drive gear 32 stated is moved along the engagement of Y-axis stationary rack 11, drives described Y-axis directive wheel 72 to roll along Y-axis guide rail 12 Crossbeam 7 is set to move along the left and right sides of frame 1.Crossbeam 7 is by the Y-axis on Y-axis directive wheel 72 and the top left and right side frames beam of frame 1 Guide rail 12 coordinates along the movement of the left and right sides of frame 1, Y-axis directive wheel 72 and the cooperation of Y-axis guide rail 12, increased the movement of crossbeam 7 Stability, is moved by engagement of the Y-axis drive gear 32 along Y-axis stationary rack 11, and the rolling for Y-axis directive wheel 72 provides dynamic Power, the mobile displacement of gear engagement is accurate, it is ensured that the precision of the moving displacement of crossbeam, X-axis Power Component 4, Z axis power packages Part 5, P axles Power Component 6 and Suction cup assembly 2 are moved with the movement of crossbeam 7, so as to ensure X-axis Power Component 4, Z axis power packages The moving displacement precision of part 5, P axles Power Component 6 and Suction cup assembly 2 along the width of frame 1.
As shown in Figure 5 and Figure 6, described crossbeam 7 for hollow out cuboid frame configuration, the bone along its length of crossbeam 7 Setting a roof beam in place along both sides protrusion before and after crossbeam 7, both sides formation X-axis Power Component 4 is installed and mobile space before and after crossbeam 7, described X-axis stationary rack 71 outside of the top framework beam of crossbeam 7 is arranged on along crossbeam 7, described X-axis Power Component 4 drives including X-axis Dynamic motor 41, the X-axis drive gear 42 on X-axis motor 41, X-axis thrust wheel 43 and X-axis directive wheel 44, it is described X-axis motor 41, X-axis thrust wheel 43 and X-axis directive wheel 44 be mounted on support plate 45, described X-axis drive gear 42 and X Axle stationary rack 71 is engaged, and described X-axis thrust wheel 43 is placed on the framework beam of the bottom of crossbeam 7, and described X-axis directive wheel 44 sets Put in the bottom of crossbeam 7, the X-axis guide rail 73 corresponding with X-axis directive wheel 44 is housed on the described bottom surface of crossbeam 7, start described X Axle motor 41, described X-axis drive gear 42 starts along the engagement of X-axis stationary rack 71, drives X-axis thrust wheel 43 in crossbeam Roll on the balladeur train beam of 7 bottoms and X-axis directive wheel 44 is rolled along X-axis guide rail 73 and X-axis Power Component 4 is moved along crossbeam 7.Institute The quantity of the X-axis thrust wheel 43 stated is four, and four X-axis thrust wheels 43 are placed on the framework beam of the bottom of crossbeam 7 and in level Rectangular arranged, two X-axis thrust wheels 43 are distributed in the front side of crossbeam 7, and two other X-axis thrust wheel 43 is distributed in after crossbeam 7 Side.
X-axis Power Component is oriented in the X-axis guide rail 73 for being moved through X-axis directive wheel 44 and the bottom surface of crossbeam 7 along crossbeam 7, Ensure the stability that X-axis Power Component is moved on crossbeam 7, furthermore, because the lower section of X-axis Power Component 4 is connected to Z axis power packages Part 5, P axles Power Component 6 and Suction cup assembly 2, therefore the load-bearing of X-axis Power Component 4 is larger, and by X-axis thrust wheel 43 weight is carried Amount, increases stability of the X-axis Power Component 4 in moving process, when plate is adsorbed on Suction cup assembly 2, X-axis Power Component 4 Carrying it is bigger, four X-axis thrust wheels 43 can have compared with share load-carrying, it is ensured that Suction cup assembly 2 when heavier plate is adsorbed, X-axis Power Component can still keep stable movement, greatly improve described in the mobile stationarity and embodiment of X-axis Power Component Engagement type driving sucker motion structural stability and reliability.
As shown in Figure 7 and Figure 8, described P axle rotary powers component 6 includes P shaft coupling pieces 61, the and of P axles motor 62 P axles rotary drive gear 63 on P axles motor 62, described Suction cup assembly 2 includes horizontal suction cup carrier 21, sucker Gear wheel 22, suction nozzle 23 and the pneumatic control components 24 for providing absorption affinity for suction nozzle 23, the top of described P shaft coupling pieces 61 connects The lower end of underarm 55 is connect, described P axles motor 62 is arranged on the side of P shaft coupling pieces 61, described P axle rotation drivings Gear 63 is arranged on the lower section of P axles motor 62, and described horizontal suction cup carrier 21 is rotatably installed in P shaft coupling pieces 61 Bottom, described sucker gear wheel 22 is fixed on the top of horizontal suction cup carrier 21 and engages with P axles rotary drive gear 63, described Suction nozzle 23 is mounted in horizontal suction cup carrier 21, described pneumatic control components 24 be mounted in the side of P shaft coupling pieces 61 by tracheae with Suction nozzle 23 connects, and starts described P axles motor 62, and the described engagement of P axles rotary drive gear 63 drives described sucker Gear wheel 22 is rotated, and the horizontal suction cup carrier 21 of rotation drive of sucker gear wheel 22 is rotated.Horizontal suction cup carrier 21 is with sucker gear wheel 22 rotation and rotate, the rotation of sucker gear wheel 22 engages driving by P axles rotary drive gear 63, is driven by controlling P axles The working condition of motor 62, control the angle of the rotation of P axles rotary drive gear 63, and 22 so as to control sucker gear wheel turn Dynamic angle, makes the rotational angle of sucker gear wheel 22 precisely, and the angle of horizontal suction cup carrier 21 is rotatable, facilitates position difference plate Absorption and plate various angles pile up.
As shown in figure 8, the quantity of described suction nozzle 23 be 30, and in array installed in described horizontal sucker The bottom of frame 21.24 points described of pneumatic control components are eight groups, and described suction nozzle 23 is also classified into eight groups, along horizontal suction cup carrier 21 The suction nozzle 23 of fore-and-aft direction alignment is divided into one group, and every group of pneumatic control components control one group of suction nozzle, every group of pneumatic control unit Part 24 is made up of vacuum generator 24.1 and air operated reversing valve 24.2, and described vacuum generator 24.1 is by tracheae and suction nozzle 23 Connection, the described control vacuum of air operated reversing valve 24.2 gives birth to the circulation and blocking of the tracheae between device 24.1 and suction nozzle 23.Inhaling During attached plate material, according to the weight and size of plate, the quantity that air operated reversing valve is opened is controlled, when adsorbing weight large scale and being big, Air operated reversing valve 24.2 is all turned on or most of unlatching, and many with the quantity of suction nozzle 23 for inhaling negative capability, absorption affinity is big, works as plate When the weight of material is less, if air operated reversing valve quantity it is relatively small, the suction nozzle quantity with energy of adsorption is few, absorption affinity It is little, reduce the energy energy dissipating during plate is piled up.
As shown in figure 9, when plate is piled up using above-mentioned engagement type driving sucker motion, frame 1 by it The mounting seat of bottom is arranged on working face, the position of fixed frame 1, it is ensured that during plate 100 is piled up, and frame 1 will not be sent out Raw movement.
The advantage of above-described anti-sway sucker motion is:
1. inhaled by the control of Y-axis Power Component 3, X-axis Power Component 4, Z axis Power Component 5 and P axle rotary powers component 6 Motion of the disk component 2 in frame, by Suction cup assembly 2 plate is adsorbed, and the stacking of real plate improves what plate was piled up Automatization level.
2., by the screw mandrel 51 in Z axis Power Component 5 and the routing motion of wing nut 52, upper arm 54 and underarm 55 are driven Between angle change, so as to drive P axles rotation runner assembly 6 rise or fall, upper arm 54, underarm 55, Z axis driving box 50 and P axles Rotary power component 6 surrounds the swing that the hexagonal structure to be formed vertically limits Z axis Power Component 5, improves plate and moves Stability during dynamic, it is ensured that the regularity that plate is piled up, improves structural stability of the present invention in running.
3.Y axles Power Component 3, X-axis Power Component 4 and P axle rotary powers component 6 drive by way of engagement drives Suction cup assembly 2 is moved and rotated in frame, and Z axis Power Component 5 is driven by way of screw mandrel with wing nut routing motion The lifting of Suction cup assembly 2, moving displacement and rotational angle of the Suction cup assembly in frame is accurate, can real plate neat code Plate, improves the space availability ratio of plate storage, to greatly reduce and stamp risk after plate is piled up.
4. adsorb plate with Suction cup assembly 2, revolved with Y-axis Power Component 3, X-axis Power Component 4, Z axis Power Component 5 and P axles Rotatory force component 6 is moved and rotating suction disc component, with control system control Y-axis Power Component 3, X-axis Power Component 4, Z axis power The running status of component 5, P axle rotary powers component 6 and Suction cup assembly 2, quickly piling up for real plate, improves piling up for plate Efficiency, meets the requirement that plate is quickly stored in a warehouse with logistics.
5. plate is adsorbed by Suction cup assembly 2, it is to avoid cause plate to scratch during piling up, it is ensured that plate outward appearance is not received Affect.
The technical scheme of embodiments of the invention is completely described above in association with accompanying drawing, it should be noted that described Embodiment be only the present invention a part of embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art exist The every other embodiment obtained on the premise of not making creative work, belongs to the scope of protection of the invention.

Claims (10)

1. the frame of the anti-sway sucker motion of feed screw nut's formula, including cuboid stand shape(1)With for adsorbing plate Suction cup assembly(2), Suction cup assembly(2)It is placed in frame(1)It is interior, it is characterised in that also including offer Suction cup assembly(2)In frame(1) It is interior along frame(1)Width moves the Y-axis Power Component of power(3), provide Suction cup assembly(2)In frame(1)It is interior along frame (1)Length direction moves the X-axis Power Component of power(4), provide Suction cup assembly(2)In frame(1)It is interior along frame(1)Height side To the Z axis Power Component of lifting drive(5)With offer Suction cup assembly(2)Horizontally rotate the P axle rotary power components of power(6), Described Y-axis Power Component(3), X-axis Power Component(4), Z axis Power Component(5), P axle rotary power components(6)With sucker group Part(2)Running status be uniformly controlled by control system;
Described frame(1)Top is equipped with across frame(1)The crossbeam of the left and right sides(7), described X-axis Power Component(4)Dress In crossbeam(7)On, described Z axis Power Component(5), P axle rotary power components(6)And Suction cup assembly(2)Along frame(1)Highly Direction is sequentially arranged at X-axis Power Component(4)Lower section;
Described Y-axis Power Component(3)It is mounted in crossbeam(7)Left and right two ends, Y-axis Power Component(3)With installed in frame(1)It is left The Y-axis stationary rack of right both sides(11)Engagement, drives described crossbeam(7)Along frame(1)The left and right sides is moved, described X-axis Power Component(4)With along crossbeam(7)Hard-wired X-axis stationary rack(71)Engagement, drives X-axis Power Component(4)Along crossbeam (7)Mobile, described P axle rotary power components(6)With Suction cup assembly(2)Engagement, drives described Suction cup assembly(2)Level Rotate;
Described Z axis drive component(5)Including being fixed on X-axis Power Component(4)The Z axis driving box of bottom(50), along Vertical Square To installed in Z axis driving box(50)Interior screw mandrel(51), the left and right sides equipped with wing wing nut(52), be fixed on Z axis drive Dynamic case(50)Interior fixed hinge(53), upper arm(54)And underarm(55), described Z axis driving box(50)Can with motor Drive described screw mandrel(51)Forward or reverse, described wing nut(52)It is mounted in screw mandrel(51)On with screw mandrel(51)Rotation And rise or fall, wing nut(52)Left and right sides wing connects hinges by connecting rod respectively(52.1), hinges (52.1)It is placed in wing nut(52)Lower section, two fixed hinges(53)It is symmetrical to be arranged on two hinges (52.1)Outside, fixed hinge(53)With close hinges(52.1)Connected by connecting rod, two fixed hinges(53) On be respectively provided with upper arm(54), upper arm(54)Lower end be hinged underarm(55), underarm(55)Lower end be hinged on P axle rotary powers Component(6)On, two upper arm(54)With two underarms(55)It is symmetrical set and Z axis driving box(50)It is dynamic with the rotation of P axles Power component(6)Surround the hexagonal structure to be formed vertically and limit described Z axis Power Component(5)Swing;
Screw mandrel(51)Rotate, wing nut(52)Along screw mandrel(51)Rise or fall, drive hinges(52.1)Around fixed hinge Chain(53)Rotate, two hinges(52.1)It is reversely synchronized to rotate, drive two fixed hinges(53)Rotating backward at the same speed makes Two upper arm(54)Rotate backward at the same speed, upper arm(54)With underarm(55)Between variable angle, drive P axle rotary power components (6)Rise or fall.
2. the anti-sway sucker motion of feed screw nut's formula according to claim 1, it is characterised in that described Z axis driving box (50)The side plate of left and right sides is postive stop baffle(50.1), the postive stop baffle described in two(50.1)It is symmetrical set and position In described upper arm(54)Top, upper arm(54)Rotate and postive stop baffle(50.1)Contact, limits upper arm(54)Continue up Rotate, described screw mandrel(51)Upper end be equipped with spacing back-up ring(51.1), described wing nut(52)Rise and spacing back-up ring (51.1)Contact, limits described wing nut(52)Continue up.
3. the anti-sway sucker motion of feed screw nut's formula according to claim 2, it is characterised in that described screw mandrel(51) Rotate forward, wing nut(52)Along screw mandrel(51)Decline, drive hinges(52.1)Around fixed hinge(53)Rotate down, two Hinges(52.1)Reversely rotate down at the same speed, drive two fixed hinges(53)Rotating backward at the same speed makes two upper arm(54) Rotate back up at the same speed, upper arm(54)With underarm(55)Between angle reduce, drive P axle rotary power components(6)Rise, institute The upper arm stated(54)With postive stop baffle(50.1)Contact, limits described upper arm(54)Continue up rotation, described P axles rotation Power Component(6)Stop rising.
4. the anti-sway sucker motion of feed screw nut's formula according to claim 3, it is characterised in that described screw mandrel(51) Reversion, wing nut(52)Along screw mandrel(51)Rise, drive hinges(52.1)Around fixed hinge(53)It is rotated up, two Hinges(52.1)Reversely it is rotated up at the same speed, drives two fixed hinges(53)Rotating backward at the same speed makes two upper arm(54) Rotate oppositely downward at the same speed, upper arm(54)With underarm(55)Between angle increase, drive P axle rotary power components(6)Decline, institute The wing nut stated(52)Back-up ring is drawn with limit(52.1)Contact, limits described wing nut and continues up, described P axles Rotary power component(6)Stop declining.
5. the anti-sway sucker motion of feed screw nut's formula according to claim 4, it is characterised in that described crossbeam(7)Bottom The left and right two ends in portion are equipped with Y-axis directive wheel(72), in frame(1)Upper being equipped with and Y-axis directive wheel of setting a roof beam in place of the top left and right sides (72)Corresponding Y-axis guide rail(12), described Y-axis Power Component(3)Including Y-axis motor(31)With drive installed in Y-axis Dynamic motor(31)On Y-axis drive gear(32), described Y-axis motor(31)It is fixedly mounted on crossbeam(7)Left and right two End, Y-axis drive gear(32)It is placed in Y-axis motor(31)Underface, described Y-axis stationary rack(11)It is attached separately to machine Frame(1)The lateral surface set a roof beam in place and Y-axis drive gear of the top left and right sides(32)Engagement, starts described Y-axis motor (31), described Y-axis drive gear(32)Along Y-axis stationary rack(11)Engagement movement, drives described Y-axis directive wheel(72)Edge Y-axis guide rail(12)Rolling makes crossbeam(7)Along frame(1)Move the left and right sides.
6. the anti-sway sucker motion of feed screw nut's formula according to claim 5, it is characterised in that described crossbeam(7)For The cuboid frame configuration of hollow out, crossbeam(7)Framework beam along its length is along crossbeam(7) both sides protrusion is in crossbeam before and after(7) Before and after both sides formed X-axis Power Component(4)Install and mobile space, described X-axis stationary rack(71)Along crossbeam(7)Peace It is mounted in crossbeam(7)The outside of top framework beam, described X-axis Power Component(4)Including X-axis motor(41), installed in X-axis Motor(41)On X-axis drive gear(42), X-axis thrust wheel(43)With X-axis directive wheel(44), described X-axis drives electric Machine(41), X-axis thrust wheel(43)With X-axis directive wheel(44)It is mounted in support plate(45)On, described X-axis drive gear(42)With X Axle stationary rack(71)Engagement, described X-axis thrust wheel(43)It is placed in crossbeam(7)On the framework beam of bottom, described X-axis is oriented to Wheel(44)It is arranged on crossbeam(7)Bottom, described crossbeam(7)It is equipped with and X-axis directive wheel on bottom surface(44)Corresponding X-axis guide rail (73), start described X-axis motor(41), described X-axis drive gear(42)Along X-axis stationary rack(71)Engagement is opened It is dynamic, drive X-axis thrust wheel(43)In crossbeam(7)Roll and X-axis directive wheel on the balladeur train beam of bottom(44)Along X-axis guide rail(73)Rolling It is dynamic to make X-axis Power Component(4)Along crossbeam(7)It is mobile.
7. the anti-sway sucker motion of feed screw nut's formula according to right wants 6, it is characterised in that described X-axis thrust wheel (43)Quantity be four, four X-axis thrust wheels(43)It is placed in crossbeam(7)On the framework beam of bottom and in horizontal rectangular row Row, two X-axis thrust wheels(43)It is distributed in crossbeam(7)Front side, two other X-axis thrust wheel(43)It is distributed in crossbeam(7)'s Rear side.
8. the anti-sway sucker motion of feed screw nut's formula according to claim 7, it is characterised in that described P axles rotation is dynamic Power component(6)Including P shaft coupling pieces(61), P axle motors(62)With installed in P axle motors(62)On P axles rotation Drive gear(63), described Suction cup assembly(2)Including horizontal suction cup carrier(21), sucker gear wheel(22), suction nozzle(23)With for Suction nozzle(23)The pneumatic control components of absorption affinity are provided(24), described P shaft coupling pieces(61)Top connection underarm(55)'s Lower end, described P axle motors(62)Installed in P shaft coupling pieces(61)Side, described P axle rotary drive gears (63)It is arranged on P axle motors(62)Lower section, described horizontal suction cup carrier(21)Rotatably it is arranged on P shaft coupling pieces (61)Bottom, described sucker gear wheel(22)It is fixed on horizontal suction cup carrier(21)Top and P axle rotary drive gears (63)Engagement, described suction nozzle(23)It is mounted in horizontal suction cup carrier(21)On, described pneumatic control components(24)It is mounted in the connection of P axles Part(61)Side by tracheae and suction nozzle(23)Connection, starts described P axle motors(62), described P axles rotation drives Moving gear(63)Engagement drives described sucker gear wheel(22)Rotate, sucker gear wheel(22)Rotation drive horizontal suction cup carrier (21)Rotate.
9. the anti-sway sucker motion of feed screw nut's formula according to claim 8, it is characterised in that described suction nozzle(23) Quantity be 20 ~ 40, and in array installed in described horizontal suction cup carrier(21)Bottom.
10. the anti-sway sucker motion of feed screw nut's formula according to claim 9, it is characterised in that described pneumatic control Element(24)It is divided into multigroup, every group of pneumatic control components(24)Control four or three suction nozzles(23)Absorption affinity, per group is pneumatic Control element(24)By vacuum generator(24.1)And air operated reversing valve(24.2)Composition, described vacuum generator(24.1)It is logical Cross tracheae and suction nozzle(23)Connection, described air operated reversing valve control vacuum life device(24.1)With suction nozzle(23)Between tracheae Circulation and blocking.
CN201510677754.5A 2015-10-20 2015-10-20 Screw-nut type anti-swing suction cup moving mechanism CN105217319B (en)

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CN110683466A (en) * 2019-07-26 2020-01-14 南通跃通数控设备股份有限公司 Large-span crank arm gantry carrying robot for woodworking furniture

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EP0255612A1 (en) * 1986-08-06 1988-02-10 Fibro GmbH Gantry-type manipulator
EP0616962A1 (en) * 1993-02-22 1994-09-28 Fabriques De Tabac Reunies S.A. Method and device for detection of the number of rows of articles in the last layer of a pile on a pallet and depiling method
CN102962841A (en) * 2013-01-13 2013-03-13 中国船舶重工集团公司第七一六研究所 Overloaded manipulator of ten-shaft double-gantry
CN203439894U (en) * 2013-08-26 2014-02-19 上海中技桩业股份有限公司 Demoulding hauling hanger of concrete prefabricated part
CN104015198A (en) * 2014-06-20 2014-09-03 深圳市杨森精密机械有限公司 Joint manipulator and M-shaped both-arm robot with same
CN204414100U (en) * 2015-01-13 2015-06-24 旭东机械(昆山)有限公司 Liquid crystal panel vanning four axle arm modules

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0255612A1 (en) * 1986-08-06 1988-02-10 Fibro GmbH Gantry-type manipulator
EP0616962A1 (en) * 1993-02-22 1994-09-28 Fabriques De Tabac Reunies S.A. Method and device for detection of the number of rows of articles in the last layer of a pile on a pallet and depiling method
CN102962841A (en) * 2013-01-13 2013-03-13 中国船舶重工集团公司第七一六研究所 Overloaded manipulator of ten-shaft double-gantry
CN203439894U (en) * 2013-08-26 2014-02-19 上海中技桩业股份有限公司 Demoulding hauling hanger of concrete prefabricated part
CN104015198A (en) * 2014-06-20 2014-09-03 深圳市杨森精密机械有限公司 Joint manipulator and M-shaped both-arm robot with same
CN204414100U (en) * 2015-01-13 2015-06-24 旭东机械(昆山)有限公司 Liquid crystal panel vanning four axle arm modules

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